mobile mapping system salil goel.pdf · 2014. 4. 14. · salil goel , manohar yadav, anjani k....

AN INDIGENOUS DEVELOPMENT OF

LAND BASED MOBILE MAPPING SYSTEM

Geoinformatics Laboratory, IIT Kanpur

SYSTEM

Salil Goel , Manohar Yadav, Anjani K. Singh and Bharat Lohani

India Geospatial Forum 2013

Mobile Mapping System2

Mapping Sensors

Laser Scanner

Digital camera

Geoinformatics Laboratory, IIT Kanpur

Digital camera

Navigation Sensors

GPS

Inertial Measurement Unit (IMU)

Distance Measurement Instrument(DMI)

Synchronization device

Need for development3

High

costs

High procurement

costs

Affordability

Different needs and

requirementsCustomize

Lack of industry

standardsCommercial developmen

Geoinformatics Laboratory, IIT Kanpur

requirementsCustomized solutions

Development of local expertise

development

Jobs and opportunitie

s

Building India

Sel

f rel

ianc

e

Black box

Operations

Maintenance

Calibration

Scalability

Optech ILRIS 3D laser scanner

Trimble R3 Microstrain

Components4

Trimble R3 GPS receiver

Microstrain3DM-GX1

Laptop

Geoinformatics Laboratory, IIT Kanpur

Feasibility analysis5

� Component integration� Equations for calibration and processing� Simulations and testing

Geoinformatics Laboratory, IIT Kanpur

System Design6

Determination of angles and heights at which instruments should be mounted.

Laser Scanner

IMU

GPS

Geoinformatics Laboratory, IIT Kanpur

Top view

Side view

System Design7

Scan lineStatic

Geoinformatics Laboratory, IIT Kanpur

Two way scanning

One way scanning

Moving

System Design8

Geoinformatics Laboratory, IIT Kanpur

System Design9

)90cos(||*|| *

*)cos(*)sin(

*)(sin*)(cos

OTOSOTOS

jkOT

jiOS

α

θθ

ββ

−=

+−=

+=

Geoinformatics Laboratory, IIT Kanpur

-(2)----- )sec

(tan

sectan

)sin(

)sec(

)90sin(

(1) ------- cos*sinsin

1

B

dB

d

dB

βα

βα

αβ

α

θβα

−=

=

=−

=

System Design10

md

mh

0.1

5.2

==

Solve equations (1) and (2) to compute angles.

Geoinformatics Laboratory, IIT Kanpur

θθθθ = 20°°°° θθθθ = 30°°°°β = 8.39° β = 13.4°α = 7.87° α = 11.6°W = 5.35 m W = 3.64 m

Case 1 Case II

Increasing the tilt angle decreases the width of the scanned region.

Integration Infrastructure11

Geoinformatics Laboratory, IIT Kanpur

Integration Infrastructure12

Geoinformatics Laboratory, IIT Kanpur

System calibration13

Determination of GPS vector and Bore Sight values.

Laser Scanner

IMU

GPS

Geoinformatics Laboratory, IIT Kanpur

Laser Scanner

GPS

Laser Scanner Coordinate System

IMU Body Coordinate System

System calibration14

Geoinformatics Laboratory, IIT Kanpur

System calibration15

3

2

32

sin

sin

)sin()sin(

αα

αα

=

=

BA

BA

Geoinformatics Laboratory, IIT Kanpur

213 180 ααα −−=

1

1

1

tan

sin

cos

βαα

Az

Ay

Ax

===

System calibration16

( ) ( ) ( ), IMU GPS globali a a global las las las IMUF l c r i r i R T M= − × × ×

Minimize the function to determine the calibration parameters.

tantan

global gential global globalIMU IMU gential GPSM R R T= × ×

Geoinformatics Laboratory, IIT Kanpur

( , , )globalGPS GPS GPS GPST T X Y Z=

( ) ( ) ( )0 0 0IMUlas x y zR R R Rα β γ= × ×

[ ], ,offsetvector dx dy dz=

To determine the parameters:

Test field17

Geoinformatics Laboratory, IIT Kanpur

Test field18

Geoinformatics Laboratory, IIT Kanpur

Flow19

Laser Scanner

GPSIMU

KalmanFilter

Timing

Geoinformatics Laboratory, IIT Kanpur

Filter

Coordinate computation

Trajectory and

Orientation

Angle and range

globalIMU

GPSIMU

IMUlaslaserglobal MTRirir x x x )()( =

Results20

Geoinformatics Laboratory, IIT Kanpur

Results21

Geoinformatics Laboratory, IIT Kanpur

Results22

Geoinformatics Laboratory, IIT Kanpur

Results23

Geoinformatics Laboratory, IIT Kanpur

Conclusive remarks24

� Developed methodology for calibration and integration of the system.

� Developed complete set of equations for calibration and computations.

Geoinformatics Laboratory, IIT Kanpur

calibration and computations.� Developed software for processing of data

captured by mobile mapping system.� Realized a complete land based mobile

mapping system.

What’s for me?25

Creating/ Updating 3D Maps

(Roads, Rails, etc) Encroachment

Develop for roads but use for

rails and sea

Assets

Flood modeling

Geoinformatics Laboratory, IIT Kanpur

(Roads, Rails, etc) Encroachment analysis

Clearance analysis

Line of Sight Analysis

Road Surface/Rail inspection

Assets

Overhead wires

Tunnels etc.

And many more….

26

Thank you!

Geoinformatics Laboratory, IIT Kanpur

Salil GoelResearch AssociateGeoinformatics LaboratoryDepartment of Civil EngineeringIndian Institute of Technology KanpurUttar Pradesh, IndiaEmail: salilg@iitk.ac.in